{"id":7962,"date":"2025-04-23T22:31:18","date_gmt":"2025-04-23T13:31:18","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=7962"},"modified":"2026-10-04T11:16:07","modified_gmt":"2026-10-04T02:16:07","slug":"reference-input-with-full-state-feedback","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/reference-input-with-full-state-feedback\/","title":{"rendered":"Reference Input with Full-State Feedback"},"content":{"rendered":"\n<h3 class=\"wp-block-heading\">Tracking System &lt;&#8212;&gt; Regulator System<\/h3>\n\n\n\n<div data-wp-interactive=\"core\/file\" class=\"wp-block-file\"><object data-wp-bind--hidden=\"!state.hasPdfPreview\" hidden class=\"wp-block-file__embed\" data=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\" type=\"application\/pdf\" style=\"width:100%;height:600px\" aria-label=\"NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac15\uc758 \uc0bd\uc785.\"><\/object><a id=\"wp-block-file--media-94916443-40d1-4d39-b82f-127821148041\" href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\">NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4 \uae30\uc220\uc0ac15<\/a><a href=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/NeoStudio_20250423_152823_\uc0b0\uc5c5\uacc4\uce21\uc81c\uc5b4-\uae30\uc220\uc0ac15.pdf\" class=\"wp-block-file__button wp-element-button\" download aria-describedby=\"wp-block-file--media-94916443-40d1-4d39-b82f-127821148041\">\ub2e4\uc6b4\ub85c\ub4dc<\/a><\/div>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1693\" height=\"571\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19.png\" alt=\"\" class=\"wp-image-7965\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19.png 1693w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19-768x259.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19-1536x518.png 1536w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2025\/04\/image-19-1568x529.png 1568w\" sizes=\"auto, (max-width: 1693px) 100vw, 1693px\" \/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">State space\uc5d0\uc11c <strong>steady-state error<\/strong>\uac00 0\uc774 \ub418\uc9c0 \uc54a\ub294 \uc774\uc720\ub294 \uc2dc\uc2a4\ud15c\uc758 \uad6c\uc870\uc801 \ud2b9\uc131\uacfc \uc81c\uc5b4 \uc124\uacc4 \ubc29\uc2dd\uc5d0 \uc788\uc2b5\ub2c8\ub2e4. \uc544\ub798\uc5d0 \uc790\uc138\ud788 \uc124\uba85\ub4dc\ub9b4\uac8c\uc694:<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">1. <strong>Control \ubc29\uc2dd\uc758 \ud55c\uacc4<\/strong>:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uc8fc\uc5b4\uc9c4 \uc81c\uc5b4 \ubc95\uce59 \\( u = -Kx + r \\)\ub294 \uc0c1\ud0dc \\( x \\)\ub97c \uc0ac\uc6a9\ud558\uc5ec \ud53c\ub4dc\ubc31 \uc81c\uc5b4\ub97c \uc218\ud589\ud558\uc9c0\ub9cc, **\ucc38\uc870 \uc785\ub825 \\( r \\)**\uc640\uc758 \uc9c1\uc811\uc801\uc778 \uad00\uacc4\ub97c \uc801\uc808\ud788 \uace0\ub824\ud558\uc9c0 \uc54a\uc744 \uacbd\uc6b0, steady-state error\uac00 \ubc1c\uc0dd\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\ud2b9\ud788, \ucc38\uc870 \uc785\ub825\uc774 <strong>step input<\/strong>(\uacc4\ub2e8 \uc785\ub825)\uc77c \ub54c, \uc2dc\uc2a4\ud15c\uc758 \ud53c\ub4dc\ubc31 \ub8e8\ud504\uac00 \uc815\ud655\ud788 \uc774\ub97c \ucd94\uc801\ud558\uc9c0 \ubabb\ud560 \uac00\ub2a5\uc131\uc774 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">2. <strong>\uadf9 \ubc30\uce58(Pole Placement) \uc81c\uc5b4\uc758 \ud2b9\uc131<\/strong>:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uadf9 \ubc30\uce58 \uc81c\uc5b4 \uc124\uacc4\ub294 \uc2dc\uc2a4\ud15c\uc758 **\ub3d9\uc801 \uc751\ub2f5(transient response)**\ub97c \uac1c\uc120\ud558\ub294 \ub370 \uc911\uc810\uc744 \ub461\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\ud558\uc9c0\ub9cc steady-state error\ub97c \uc790\ub3d9\uc73c\ub85c \uc81c\uac70\ud558\ub294 \uae30\ub2a5\uc740 \ud3ec\ud568\ub418\uc9c0 \uc54a\uc744 \uc218 \uc788\uc73c\uba70, \uc774\ub97c \ucd94\uac00\uc801\uc73c\ub85c \ubcf4\uc644\ud574\uc57c \ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3. <strong>\ucc38\uc870 \uc785\ub825\uacfc \uc2dc\uc2a4\ud15c \ubaa8\ub378\uc758 \ubd88\uc77c\uce58<\/strong>:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uc2dc\uc2a4\ud15c\uc5d0\uc11c steady-state error\ub97c \uc5c6\uc560\uae30 \uc704\ud574\uc11c\ub294 \uc785\ub825 \uc2e0\ud638 \\( r \\)\uc640 \uc2dc\uc2a4\ud15c \ucd9c\ub825 \\( y \\) \uac04\uc758 \ucc28\uc774\ub97c \uc904\uc5ec\uc57c \ud569\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\uc2dc\uc2a4\ud15c\uc758 \uc804\ub2ec \ud568\uc218 \ud2b9\uc131\uc774 \uc785\ub825 \\( r \\)\ub97c \uc644\ubcbd\ud788 \ucd94\uc801\ud560 \uc218 \uc5c6\uc73c\uba74 error\uac00 \ub0a8\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">4. <strong>Integral Control (\uc801\ubd84 \uc81c\uc5b4) \ubd80\uc871<\/strong>:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>steady-state error\ub97c \uc81c\uac70\ud558\uae30 \uc704\ud574 \uc81c\uc5b4 \uc2dc\uc2a4\ud15c\uc5d0\uc11c <strong>\uc801\ubd84 \uc81c\uc5b4\uae30<\/strong>\ub97c \ucd94\uac00\ud558\ub294 \uacbd\uc6b0\uac00 \ub9ce\uc2b5\ub2c8\ub2e4.<\/li>\n\n\n\n<li>\uc801\ubd84 \uc81c\uc5b4\uae30\ub294 steady-state\uc5d0\uc11c error\ub97c \ub204\uc801\ud558\uc5ec \uc774\ub97c \ubcf4\uc815\ud558\ub294 \uc5ed\ud560\uc744 \ud569\ub2c8\ub2e4. \ud558\uc9c0\ub9cc \uc801\ubd84 \uc81c\uc5b4\uac00 \ud3ec\ud568\ub418\uc9c0 \uc54a\ub294 \uc0c1\ud0dc \uacf5\uac04 \uc124\uacc4\uc5d0\uc11c\ub294 error\ub97c \uc904\uc774\ub294 \uba54\ucee4\ub2c8\uc998\uc774 \ubd80\uc871\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">\ud574\uacb0 \ubc29\uc548:<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\uc801\ubd84 \uc81c\uc5b4\uae30 \ucd94\uac00<\/strong>: \uc801\ubd84 \ub3d9\uc791\uc744 \ud3ec\ud568\uc2dc\ucf1c error\ub97c \ub204\uc801\ud558\uace0 \uc774\ub97c \ubcf4\uc815\ud558\ub3c4\ub85d \uc124\uacc4\ud569\ub2c8\ub2e4.<\/li>\n\n\n\n<li><strong>\ucc38\uc870 \uc0c1\ud0dc \uc124\uacc4<\/strong>: \\( r \\)\uc758 steady-state \uac12\uc744 \ud3ec\ud568\ud558\uc5ec \uc0c1\ud0dc \uacf5\uac04 \ubaa8\ub378\uc744 \uc218\uc815\ud568\uc73c\ub85c\uc368, error\ub97c \ucd5c\uc18c\ud654\ud569\ub2c8\ub2e4.<\/li>\n\n\n\n<li><strong>\ud53c\ub4dc\ud3ec\uc6cc\ub4dc \uc81c\uc5b4<\/strong>: \uc801\uc808\ud55c feedforward term\uc744 \uc124\uacc4\ud558\uc5ec \ucc38\uc870 \uc785\ub825\uacfc \uc2dc\uc2a4\ud15c \ucd9c\ub825 \uac04\uc758 \ucc28\uc774\ub97c \uc9c1\uc811 \ubcf4\uc644\ud569\ub2c8\ub2e4.<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\uacb0\ub860\uc801\uc73c\ub85c, state space \uc124\uacc4\uc5d0\uc11c steady-state error\ub97c \uc81c\uac70\ud558\ub824\uba74 \ucc38\uc870 \uc785\ub825\uc744 \uace0\ub824\ud55c \ucd94\uac00\uc801\uc778 \uc124\uacc4 \uc694\uc18c\ub97c \ud3ec\ud568\ud574\uc57c \ud569\ub2c8\ub2e4. \ub354 \uad81\uae08\ud55c \uc810\uc774\ub098 \uad6c\uccb4\uc801\uc778 \uc0c1\ud669\uc774 \uc788\uc73c\uba74 \uc54c\ub824\uc8fc\uc138\uc694! ?<\/p>\n\n\n\n&#8220;`html\n<div class=\"chapter19-wide\">\n\n  <h1>Reference Input with Full-State Feedback<\/h1>\n\n  <div class=\"subtitle\">\n    Full-State Feedback \u00b7 Tracking System \u00b7 Steady-State \u00b7 Nx \u00b7 Nu \u00b7 Reference Input\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>1. Full-State Feedback\uc5d0 Reference \uc785\ub825 \ucd94\uac00<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uae30\uc874 Full-State Feedback\uc5d0\n      Reference \uc785\ub825\uc744 \ucd94\uac00\ud558\uc5ec\n      Tracking System\uc73c\ub85c \ud655\uc7a5\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      Regulator System\n      \u2192\n      Tracking System\n    <\/div>\n\n    <p>\n      \uae30\uc874 \uc0c1\ud0dc\ud53c\ub4dc\ubc31 \uc785\ub825\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      u = -Kx\n    <\/div>\n\n    <p>\n      \uc774\uba70,\n      Reference\ub97c \uc9c1\uc811 \ub123\uc73c\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      u = -Kx + r\n    <\/div>\n\n    <p>\n      \ud615\ud0dc\uac00 \ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>2. u = -Kx\uc758 \uc5ed\ud560<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294\n      \uc0c1\ud0dc\ud53c\ub4dc\ubc31\n    <\/p>\n\n    <div class=\"formula\">\n      u = -Kx\n    <\/div>\n\n    <p>\n      \uac00 \uc8fc\ub85c Transient Response\uc640 \uad00\ub828\ub41c\ub2e4\uace0 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"memory\">\n      <strong>\n        \uc0c1\ud0dc\ud53c\ub4dc\ubc31 Gain K\ub294\n        \uc2dc\uc2a4\ud15c\uc758 \ub3d9\uc801\uc751\ub2f5\uc744 \uacb0\uc815\ud558\ub294 \uc5ed\ud560\ub85c \uc815\ub9ac\ub418\uc5b4 \uc788\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>3. Reference\ub97c \ub2e8\uc21c\ud788 \ub354\ud558\ub294 \ubb38\uc81c<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub2e8\uc21c\ud788\n    <\/p>\n\n    <div class=\"formula\">\n      u = -Kx + r\n    <\/div>\n\n    <p>\n      \ub85c \uad6c\uc131\ud558\uba74\n      \uc6d0\ud558\ub294 \uc815\uc0c1\uc0c1\ud0dc \ucd9c\ub825\uac12\uacfc\n      \uc2e4\uc81c \uc815\uc0c1\uc0c1\ud0dc \ucd9c\ub825\uac12\uc774 \uc815\ud655\ud788 \uc77c\uce58\ud558\uc9c0 \uc54a\uc744 \uc218 \uc788\ub2e4.\n    <\/p>\n\n    <p>\n      \ub530\ub77c\uc11c \uc6d0\ud558\ub294 Steady-State Value\ub97c \uba3c\uc800 \uacc4\uc0b0\ud558\uace0,\n      \uadf8 \uc0c1\ud0dc\ub97c \ub9cc\ub4e4\uae30 \uc704\ud55c \uc785\ub825\uc744 \uc815\ud574\uc57c \ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>4. \uc815\uc0c1\uc0c1\ud0dc \uc785\ub825\uc744 \uac15\uc81c\ub85c \uc120\uc815<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 Output Error\uac00 0\uc774 \ub418\ub3c4\ub85d\n      \uc815\uc0c1\uc0c1\ud0dc \uc785\ub825\uc744 \uc120\ud0dd\ud558\ub294 \ubc29\ud5a5\uc73c\ub85c \uc815\ub9ac\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      u<sub>ss<\/sub>\n      &#8211;\n      K(x-x<sub>ss<\/sub>)\n    <\/div>\n\n    <p>\n      \uc0c1\ud0dc\uac00 \uc815\uc0c1\uc0c1\ud0dc\uc5d0 \ub3c4\ub2ec\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      x \u2192 x<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      u \u2192 u<sub>ss<\/sub>\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        \uc6d0\ud558\ub294 \uc815\uc0c1\uc0c1\ud0dc \uc0c1\ud0dc\uac12 x_ss\uc640\n        \uc785\ub825\uac12 u_ss\ub97c \uba3c\uc800 \uacc4\uc0b0\ud55c \ub4a4,\n        \uadf8 \uc8fc\ubcc0\uc758 \uc0c1\ud0dc\uc624\ucc28\uc5d0 Full-State Feedback\uc744 \uc801\uc6a9\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>5. State-Space \uae30\ubcf8\uc2dd<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294 \uc2dc\uc2a4\ud15c\uc744 \ub2e4\uc74c\uacfc \uac19\uc774 \ub454\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      x\u0307 = Fx + Gu\n    <\/div>\n\n    <div class=\"formula\">\n      y = Hx + Ju\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>6. Steady-State \uc870\uac74<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc\uc5d0\uc11c\ub294 \uc0c1\ud0dc\uac00 \ub354 \uc774\uc0c1 \ubcc0\ud558\uc9c0 \uc54a\uc73c\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      x\u0307 = 0\n    <\/div>\n\n    <p>\n      \uc774\ub2e4.\n    <\/p>\n\n    <p>\n      \ub530\ub77c\uc11c State Equation\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      0\n      =\n      F x<sub>ss<\/sub>\n      +\n      G u<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \uac00 \ub41c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>7. \uc815\uc0c1\uc0c1\ud0dc \ucd9c\ub825<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Output Equation\ub3c4 \uc815\uc0c1\uc0c1\ud0dc\uc5d0\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      y<sub>ss<\/sub>\n      =\n      H x<sub>ss<\/sub>\n      +\n      J u<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \ub85c \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>8. Reference\uc640 \uc815\uc0c1\uc0c1\ud0dc \ucd9c\ub825<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      Tracking System\uc5d0\uc11c\ub294\n      \uc815\uc0c1\uc0c1\ud0dc \ucd9c\ub825\uc774 Reference\uc758 \uc815\uc0c1\uc0c1\ud0dc \uac12\uacfc \uac19\ub3c4\ub85d \ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      y<sub>ss<\/sub>\n      =\n      r<sub>ss<\/sub>\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        Tracking System\uc758 \ubaa9\ud45c\ub294\n        \uc815\uc0c1\uc0c1\ud0dc\uc5d0\uc11c \ucd9c\ub825 y_ss\uac00\n        Reference r_ss\ub97c \ub530\ub77c\uac00\ub3c4\ub85d \ub9cc\ub4dc\ub294 \uac83\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>9. \uc815\uc0c1\uc0c1\ud0dc \uc0c1\ud0dc\uc640 \uc785\ub825\uc758 \ube44\ub840\uad00\uacc4<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294\n      \uc815\uc0c1\uc0c1\ud0dc \uc0c1\ud0dc\uc640 \uc785\ub825\uc744\n      Reference\uc5d0 \ube44\ub840\ud558\ub294 \ud615\ud0dc\ub85c \uc815\uc758\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      x<sub>ss<\/sub>\n      =\n      N<sub>x<\/sub> r<sub>ss<\/sub>\n    <\/div>\n\n    <div class=\"formula\">\n      u<sub>ss<\/sub>\n      =\n      N<sub>u<\/sub> r<sub>ss<\/sub>\n    <\/div>\n\n    <ul>\n      <li>N<sub>x<\/sub> : Reference\uc5d0\uc11c \uc815\uc0c1\uc0c1\ud0dc State\ub85c \uac00\ub294 \uacc4\uc218<\/li>\n      <li>N<sub>u<\/sub> : Reference\uc5d0\uc11c \uc815\uc0c1\uc0c1\ud0dc Input\uc73c\ub85c \uac00\ub294 \uacc4\uc218<\/li>\n    <\/ul>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>10. Nx \u00b7 Nu \uacc4\uc0b0\uc870\uac74<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc \ubc29\uc815\uc2dd\uc5d0\n      x<sub>ss<\/sub>=N<sub>x<\/sub>r<sub>ss<\/sub>,\n      u<sub>ss<\/sub>=N<sub>u<\/sub>r<sub>ss<\/sub>\ub97c \ub300\uc785\ud55c\ub2e4.\n    <\/p>\n\n    <p>\n      State Equation\uc5d0\uc11c\ub294\n    <\/p>\n\n    <div class=\"formula\">\n      0\n      =\n      F N<sub>x<\/sub> r<sub>ss<\/sub>\n      +\n      G N<sub>u<\/sub> r<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      F N<sub>x<\/sub>\n      +\n      G N<sub>u<\/sub>\n      =\n      0\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>11. Output \uc870\uac74<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc815\uc0c1\uc0c1\ud0dc\uc5d0\uc11c\n      y<sub>ss<\/sub>=r<sub>ss<\/sub>\uc774\ubbc0\ub85c\n    <\/p>\n\n    <div class=\"formula\">\n      r<sub>ss<\/sub>\n      =\n      H N<sub>x<\/sub> r<sub>ss<\/sub>\n      +\n      J N<sub>u<\/sub> r<sub>ss<\/sub>\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c\n    <\/p>\n\n    <div class=\"formula\">\n      1\n      =\n      H N<sub>x<\/sub>\n      +\n      J N<sub>u<\/sub>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>12. Matrix \ud615\ud0dc<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub450 \uc870\uac74\uc744 Matrix\ub85c \ud569\uce58\uba74\n      NeoStudio\uc5d0\uc11c \ub2e4\uc74c\uacfc \uac19\uc774 \uae30\ub85d\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      [\n      0\n      ;\n      1\n      ]\n      =\n      [\n      F  G\n      ;\n      H  J\n      ]\n      [\n      N<sub>x<\/sub>\n      ;\n      N<sub>u<\/sub>\n      ]\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>13. Nx \u00b7 Nu \uacc4\uc0b0<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \ub530\ub77c\uc11c N<sub>x<\/sub>, N<sub>u<\/sub>\ub294\n      \ub2e4\uc74c\uacfc \uac19\uc774 \uacc4\uc0b0\ud55c\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      [\n      N<sub>x<\/sub>\n      ;\n      N<sub>u<\/sub>\n      ]\n      =\n      [\n      F  G\n      ;\n      H  J\n      ]<sup>-1<\/sup>\n      [\n      0\n      ;\n      1\n      ]\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        \uc2dc\uc2a4\ud15c\uc758 \uc815\uc0c1\uc0c1\ud0dc \ubc29\uc815\uc2dd\uc744 \uc774\uc6a9\ud558\uc5ec\n        Reference\ub97c \uc815\ud655\ud788 \ucd94\uc885\ud558\uae30 \uc704\ud55c\n        N_x\uc640 N_u\ub97c \uacc4\uc0b0\ud55c\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>14. Full-State Feedback \uc785\ub825\uc2dd\uc5d0 \ub300\uc785<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      \uc55e\uc5d0\uc11c \uc815\uc758\ud55c\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      u<sub>ss<\/sub>\n      &#8211;\n      K(x-x<sub>ss<\/sub>)\n    <\/div>\n\n    <p>\n      \uc5d0\n    <\/p>\n\n    <div class=\"formula\">\n      x<sub>ss<\/sub>\n      =\n      N<sub>x<\/sub>r\n    <\/div>\n\n    <div class=\"formula\">\n      u<sub>ss<\/sub>\n      =\n      N<sub>u<\/sub>r\n    <\/div>\n\n    <p>\n      \ub97c \ub300\uc785\ud55c\ub2e4.\n    <\/p>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>15. \uc785\ub825\uc2dd \uc804\uac1c<\/h2>\n\n  <div class=\"card\">\n\n    <div class=\"formula\">\n      u\n      =\n      N<sub>u<\/sub>r\n      &#8211;\n      K(x-N<sub>x<\/sub>r)\n    <\/div>\n\n    <p>\n      \uc804\uac1c\ud558\uba74\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      -Kx\n      +\n      (N<sub>u<\/sub> + K N<sub>x<\/sub>)r\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>16. Reference Gain N<\/h2>\n\n  <div class=\"card\">\n\n    <p>\n      NeoStudio\uc5d0\uc11c\ub294\n      Reference \uc55e\uc5d0 \uacf1\ud574\uc9c0\ub294 \uc804\uccb4 Gain\uc744\n      \ub2e4\uc74c\uacfc \uac19\uc774 \ubb36\ub294\ub2e4.\n    <\/p>\n\n    <div class=\"formula\">\n      N\n      =\n      N<sub>u<\/sub>\n      +\n      K N<sub>x<\/sub>\n    <\/div>\n\n    <p>\n      \ub530\ub77c\uc11c \ucd5c\uc885 \uc785\ub825\uc2dd\uc740\n    <\/p>\n\n    <div class=\"formula\">\n      u\n      =\n      -Kx\n      +\n      Nr\n    <\/div>\n\n    <div class=\"memory\">\n      <strong>\n        K\ub294 \uc0c1\ud0dc\ud53c\ub4dc\ubc31,\n        N\uc740 Reference \ucd94\uc885\uc744 \uc704\ud55c Feedforward \uc131\ubd84\uc73c\ub85c\n        \uad6c\ubd84\ud558\uc5ec \uc0ac\uc6a9\ud560 \uc218 \uc788\ub294 \uad6c\uc870\uc774\ub2e4.\n      <\/strong>\n    <\/div>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>17. \ucd5c\uc885 \uad6c\uc870<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                         Reference r\n                             \u2502\n                             \u25bc\n                             N\n                             \u2502\n                             \u25bc\n                       \u250c\u2500\u2500\u2500\u2500 (+) \u2500\u2500\u2500\u2500\u2500\u2510\n                       \u2502              \u2502\n                       \u2502              \u25bc\n                       \u2502              u\n                       \u2502              \u2502\n                       \u2502              \u25bc\n                       \u2502           Plant\n                       \u2502              \u2502\n                       \u2502              \u25bc\n                       \u2502              x\n                       \u2502              \u2502\n                       \u2502              \u25bc\n                       \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500 -Kx\n\n      \ucd5c\uc885 \uc785\ub825:\n      u = -Kx + Nr\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>18. Regulator\uc640 Tracking System<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\uad6c\ubd84<\/th>\n          <th>\uc785\ub825\uc2dd<\/th>\n          <th>NeoStudio\uc758 \ud575\uc2ec<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>Regulator System<\/strong><\/td>\n          <td>u = -Kx<\/td>\n          <td>\uc0c1\ud0dc\ub97c \uc6d0\uc810\uc73c\ub85c \uc870\uc808, Transient Response \uc911\uc2ec<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Tracking System<\/strong><\/td>\n          <td>u = -Kx + Nr<\/td>\n          <td>Reference\uc758 \uc815\uc0c1\uc0c1\ud0dc \uac12\uc744 \ucd94\uc885<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>19. \uc804\uccb4 \ud750\ub984<\/h2>\n\n  <div class=\"card\">\n\n    <pre>\n                 Full-State Feedback\n                         \u2502\n                         \u25bc\n                      u = -Kx\n                         \u2502\n                         \u25bc\n                 Regulator System\n                         \u2502\n                         \u25bc\n               Reference Tracking \ud544\uc694\n                         \u2502\n                         \u25bc\n                Steady-State \uacc4\uc0b0\n                         \u2502\n          \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2534\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510\n          \u25bc                             \u25bc\n      x_ss = Nx r                   u_ss = Nu r\n          \u2502                             \u2502\n          \u2514\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u252c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2518\n                         \u25bc\n              [F G; H J][Nx;Nu]\n                      =\n                    [0;1]\n                         \u2502\n                         \u25bc\n                 Nx, Nu \uacc4\uc0b0\n                         \u2502\n                         \u25bc\n              u = Nu r - K(x-Nx r)\n                         \u2502\n                         \u25bc\n                u = -Kx + Nr\n                         \u2502\n                         \u25bc\n               N = Nu + K Nx\n                         \u2502\n                         \u25bc\n                 Tracking System\n    <\/pre>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <h2>20. NeoStudio PDF \ud575\uc2ec \uc815\ub9ac<\/h2>\n\n  <div class=\"table-wrap\">\n\n    <table>\n\n      <thead>\n        <tr>\n          <th>\ud56d\ubaa9<\/th>\n          <th>NeoStudio \ub0b4\uc6a9<\/th>\n        <\/tr>\n      <\/thead>\n\n      <tbody>\n\n        <tr>\n          <td><strong>\uae30\uc874 \uc0c1\ud0dc\ud53c\ub4dc\ubc31<\/strong><\/td>\n          <td>u = -Kx<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ubaa9\uc801<\/strong><\/td>\n          <td>Regulator \u2192 Tracking System<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc815\uc0c1\uc0c1\ud0dc \uc785\ub825\uc2dd<\/strong><\/td>\n          <td>u = u_ss &#8211; K(x-x_ss)<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>State Equation<\/strong><\/td>\n          <td>x\u0307 = Fx + Gu<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Output Equation<\/strong><\/td>\n          <td>y = Hx + Ju<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc815\uc0c1\uc0c1\ud0dc \uc870\uac74<\/strong><\/td>\n          <td>0 = F x_ss + G u_ss<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\uc815\uc0c1\uc0c1\ud0dc \ucd9c\ub825<\/strong><\/td>\n          <td>y_ss = H x_ss + J u_ss<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Tracking \uc870\uac74<\/strong><\/td>\n          <td>y_ss = r_ss<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>State Reference<\/strong><\/td>\n          <td>x_ss = Nx r_ss<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Input Reference<\/strong><\/td>\n          <td>u_ss = Nu r_ss<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Nx, Nu \uacc4\uc0b0<\/strong><\/td>\n          <td>[Nx;Nu] = [F G; H J]\u207b\u00b9[0;1]<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>Reference Gain<\/strong><\/td>\n          <td>N = Nu + K Nx<\/td>\n        <\/tr>\n\n        <tr>\n          <td><strong>\ucd5c\uc885 \uc785\ub825<\/strong><\/td>\n          <td>u = -Kx + Nr<\/td>\n        <\/tr>\n\n      <\/tbody>\n\n    <\/table>\n\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"warning\">\n    <strong>\n      \uc774 HTML\uc740 WordPress \ud398\uc774\uc9c0 \ubcf8\ubb38\uc758\n      State-Space steady-state error \uc124\uba85\uc744 \uc0ac\uc6a9\ud558\uc9c0 \uc54a\uace0,\n      NeoStudio PDF 1\uac1c(\ucd1d 2\ud398\uc774\uc9c0)\ub9cc\n      \ud398\uc774\uc9c0\ubcc4 \uc2dc\uac01 \ud310\ub3c5\ud558\uc5ec \uc791\uc131\ud588\ub2e4.\n\n      \uc774 \ud398\uc774\uc9c0\uc5d0\ub294 \ubcc4\ub3c4\uc758 \uc77c\ubc18 \uc774\ubbf8\uc9c0\uac00 \uc5c6\ub2e4.\n\n      1\ud398\uc774\uc9c0\ub294\n      Full-State Feedback\uc5d0 Reference\ub97c \ucd94\uac00\ud558\uc5ec\n      Tracking System\uc73c\ub85c \ud655\uc7a5\ud558\ub294 \ubaa9\uc801,\n      u = u_ss &#8211; K(x-x_ss),\n      0 = F x_ss + G u_ss,\n      y_ss = H x_ss + J u_ss,\n      x_ss = Nx r_ss,\n      u_ss = Nu r_ss\ub97c \uc815\ub9ac\ud55c\ub2e4.\n\n      2\ud398\uc774\uc9c0\ub294\n      \uc815\uc0c1\uc0c1\ud0dc \ub450 \ubc29\uc815\uc2dd\uc744 Matrix\ub85c \uacb0\ud569\ud558\uc5ec\n      Nx, Nu\ub97c \uacc4\uc0b0\ud558\uace0,\n      \ucd5c\uc885\uc801\uc73c\ub85c\n      u = -Kx + (Nu + K Nx)r\n      \ud615\ud0dc\ub97c \uc720\ub3c4\ud55c\ub2e4.\n\n      \uc801\ubd84\uc81c\uc5b4,\n      Servo Augmentation,\n      Observer,\n      LQR \ub4f1\uc758 \uc678\ubd80 \uc0c1\ud0dc\uacf5\uac04 \uc81c\uc5b4\uc774\ub860\uc740\n      \uc774\ubc88 NeoStudio\uc5d0 \uc9c1\uc811 \uc804\uac1c\ub418\uc5b4 \uc788\uc9c0 \uc54a\uc544 \ucd94\uac00\ud558\uc9c0 \uc54a\uc558\ub2e4.\n    <\/strong>\n  <\/div>\n\n\n  <!-- ================================================= -->\n  <div class=\"keywords\">\n    Full-State Feedback,\n    Reference Input,\n    Tracking System,\n    Regulator System,\n    State Space,\n    Steady State,\n    State Feedback,\n    Feedforward,\n    Nx,\n    Nu,\n    Reference Gain,\n    Pole Placement\n  <\/div>\n\n<\/div>\n&#8220;`\n","protected":false},"excerpt":{"rendered":"<p>Tracking System &lt;&#8212;&gt; Regulator System State space\uc5d0\uc11c steady-state error\uac00 0\uc774 \ub418\uc9c0 \uc54a\ub294 \uc774\uc720\ub294 \uc2dc\uc2a4\ud15c\uc758 \uad6c\uc870\uc801 \ud2b9\uc131\uacfc \uc81c\uc5b4 \uc124\uacc4 \ubc29\uc2dd\uc5d0 \uc788\uc2b5\ub2c8\ub2e4. \uc544\ub798\uc5d0 \uc790\uc138\ud788 \uc124\uba85\ub4dc\ub9b4\uac8c\uc694: 1. Control \ubc29\uc2dd\uc758 \ud55c\uacc4: 2. \uadf9 \ubc30\uce58(Pole Placement) \uc81c\uc5b4\uc758 \ud2b9\uc131: 3. \ucc38\uc870 \uc785\ub825\uacfc \uc2dc\uc2a4\ud15c \ubaa8\ub378\uc758 \ubd88\uc77c\uce58: 4. Integral Control (\uc801\ubd84 \uc81c\uc5b4) \ubd80\uc871: \ud574\uacb0 \ubc29\uc548: \uacb0\ub860\uc801\uc73c\ub85c, state space \uc124\uacc4\uc5d0\uc11c steady-state error\ub97c \uc81c\uac70\ud558\ub824\uba74 \ucc38\uc870 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"categories":[1185],"tags":[1752],"class_list":["post-7962","post","type-post","status-publish","format-standard","hentry","category-1185","tag-tracking-system"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7962","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/comments?post=7962"}],"version-history":[{"count":3,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7962\/revisions"}],"predecessor-version":[{"id":9689,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/7962\/revisions\/9689"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=7962"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=7962"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=7962"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}